I had the exact same problem with my 2014 Escape 2.0 Eco boost. I even took video of the warning lights on the dash that came on when it happened. It happened twice and I took it to 2 different dealers but they told me that because the ECU didn't store any error codes for the problem there was nothing they could do. I complained and and complained and finally the dealer agreed to get me out of my lease and into a 2015 Edge Sport, but now I read the same problem is occurring in some Edges. Oh great!
The problem seems to be a sensor somewhere is sending a false signal to the ECU that there is a problem and it places the car into a LIMP mode to protect the engine. But since no code is stored that can't fix it. I found info on the internet where other Escape owners are having the same problem but nothing is being done. I saw there were similar complaints with the older Escapes and a factory fix did come out for them. I filed a complaint with NHTSA and I saw there were others there also.
Good luck - it really does create a dangerous situation and for sure someone is going to get hurt one day.